US9776272B2 - System and method for modular portable welding and seam tracking - Google Patents

System and method for modular portable welding and seam tracking Download PDF

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Publication number
US9776272B2
US9776272B2 US14/360,274 US201214360274A US9776272B2 US 9776272 B2 US9776272 B2 US 9776272B2 US 201214360274 A US201214360274 A US 201214360274A US 9776272 B2 US9776272 B2 US 9776272B2
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Prior art keywords
welding
feature
rig
work piece
cart
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US20150321280A1 (en
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Omer Einav
Doron Shabanov
Daniel Spirtus
Ami Andre Kronenberg
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WELDOBOT Ltd
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WELDOBOT Ltd
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Assigned to WELDOBOT LTD. reassignment WELDOBOT LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: EINAV, OMER, SHABANOV, DORON, SPIRTUS, Daniel
Publication of US20150321280A1 publication Critical patent/US20150321280A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125—Weld quality monitoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0217—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/027—Carriages for supporting the welding or cutting element for making circular cuts or welds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
    • B23Q17/2266—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece of a tool relative to a workpiece-axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/005—Guides for workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02—Driving main working members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0007—Portable machines comprising means for their guidance or support directly on the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
    • B23Q9/0014—Portable machines provided with or cooperating with guide means supported directly by the workpiece during action
    • B23Q9/0021—Portable machines provided with or cooperating with guide means supported directly by the workpiece during action the tool being guided in a circular path

Definitions

  • the present invention relates to a system and method for portable welding and more particularly to a portable weld seam tracking system used in conjunction with semi- and fully-autonomous welding systems.
  • welding in a very tedious, labor intense and complex process may require multiple steps.
  • the quality of the weld must be insured to prevent leaks and environmental hazards.
  • Means to simplify the weld process and provide multiple processes in one system is highly desirable.
  • the environment of the welding area is very unfriendly to delicate devices and instruments; temperatures rise to high level, molten metal globules occasionally are flung in unpredictable directions, and fumes stick to mechanical devices resulting in malfunction.
  • the present invention relates to devices for tracking a welding tip during welding operations by a mechanized platform and/or robotic platform that operates in the field.
  • the platform does not have the ability to chuck the work piece and therefore the accuracy is limited.
  • the platform is designed particularly, but not exclusively for operations on cylindrical bodies such as pipes and tanks.
  • An element of the invention involves identifying a feature or applying a mark that is parallel to the desired path of welding so that the distance of the welding platform to the seam is controlled.
  • Using a mark distant from the seam but at a fixed distance therefrom as a guideline avoids issues associated with tracking the actual seam.
  • the mark remains stable and does not change its properties during repeated passes, and the effects of welding such as smoke, radiation and sparkling are kept away from the guide mark.
  • an automatic modular welding device comprising:
  • processing rig is adapted to perform operations selected from the group consisting of: metal welding, plastic joining, painting, QA analysis, underwater welding, cleaning, wrapping, cutting, measuring, deburring, polishing, sanding, heat treating.
  • sensing means adapted to sense at least one feature upon the work to be welded.
  • said at least one feature is indicative of the path to be welded, said feature being offset from said path by a predetermined amount.
  • processing rig is used for MIG/TIG welding in the field.
  • welds selected from the group consisting of: helical welds; linear welds; circular welds; stairstep welds; sawtooth welds; multipass welds.
  • attachment means adapted to allow said welding rig to travel about the perimeter of a nonplanar work piece.
  • attachment means is selected from the group consisting of: chain; rope; magnetic means; electromagnetic means; suction means.
  • said sensing means is selected from the group consisting of: visual sensing means; optical sensing means; magnetic sensing means; electrostatic sensing means; radioactive sensing means; texture sensing means; olfactory sensing means; chemical sensing means.
  • said feature comprises a rigid guide.
  • said motoring means comprise a plurality of positioning means adapted to move said welding rig in several directions.
  • FIG. 1 is a system overview and block diagram of main system components.
  • FIG. 4 is a typical hand held marking and or measurement device.
  • FIGS. 6A ,B are an exemplary drawing of a flat mechanism.
  • welding refers hereinafter to any process for joining or separating materials such as metal and plastic, as well as associated acts including cleaning, painting, spraying, vibrating, analyzing, impinging, plating, and irradiating (even without joining or separating metal).
  • processing refers hereinafter to any act involved in joining or separating materials such as metal and plastic as well as associated acts including cleaning, painting, spraying, vibrating, analyzing, impinging, plating, and irradiating.
  • FIG. 1 illustrates an exemplary simplified block diagram of a modular welding and tracking system.
  • the system typically but not necessarily includes the following sub-elements:
  • FIGS. 3 a & 3 b showing an exemplary orbital welding system with a tracking device in operation.
  • a typical rotary platform ( 1 ) is attached to the pipe and moves in an orbital path.
  • the platform is equipped with a linear arm ( 2 ) that is parallel to the axis of the pipe.
  • the adjustable mechanism ( 3 ) enables fine adjustment of the distance between the welding tip ( 5 ) and the follower ( 4 ).
  • the mark is in a form other than a line.
  • the sensor ( 4 ) is used to track the mark and provides a command (for example through a controller) to the arm ( 2 ) to adjust the position.
  • the arm is driven by a motor ( 8 ) that drives the moving slide ( 9 ).
  • the unit may be fitted with height adjustment and control ( 11 ).
  • an additional head is added to the platform (e.g. near the welding head) that includes instruments such as a camera/ultrasound/laser head for position and quality inspection.
  • these heads are modular and interchangeable (i.e. One processing head and one QA head)
  • a shielding device ( 10 ) provides protection to the weld tip and therefore makes possible the use of a shielding gas as known in MIG and TIG welding.
  • FIG. 4 showing an exemplary hand held marking device that is used for pipes that require marking in the field.
  • the marking unit is fitted with an edge following wheel ( 402 ) that is attached to the work piece end ( 401 ) and to the marking cart ( 403 ).
  • the cart ( 403 ) is hand held by handle ( 405 ).
  • An adjustable arm with a marking tip ( 404 ) is used for marking. The arm can be adjusted and locked by using screw ( 405 )
  • the entire manual marking device is designed for smooth and consistent motion and that can be easily performed by the operator.
  • Another exemplary method to mark the welding seam can include a motorized marking device.
  • Other options include the addition of a marking device to the rotary platform.
  • a marking device can also be used for non cylindrical parts.
  • a marking device can be design to follow a groove and/or a wall and/or a step pattern.
  • a marking device can be fitted with an electronic reader whereby the read information can be used for following the seam or joint.
  • a marking device can be part of a cleaning device that prepares the welding area.
  • FIG. 5 showing an example mechanism of a rotary platform suitable for welding pipes, tubes, and other objects of cylindrical symmetry.
  • the platform is attached to the pipe using a chain ( 51 ) that can be adjusted and tightened to the pipe circumference by means of a crank ( 52 ) that pulls a tightening sprocket ( 53 ).
  • the chain and motion elements are optionally embedded in a modular cart which mates reversibly with the rest of the welding platform. In this way the device is rendered modular insofar as the movement means comprising cart, wheels, motoring means and the like are separable from the welding and sensing means.
  • the rotary platform rotates around the pipe by means of motor ( 50 ) that is linked to the chain.
  • the motor ( 50 ) can also rotate the rotary platform wheels to assist and smooth the rotational motion of the welding platform as it rotates around the pipe in circular or helical fashion.
  • the chain ( 51 ) can be unlinked to allow easy connection of the unit to the pipe by wrapping the chain around the pipe.
  • a belt or a wire is used instead of (or in conjunction with) the chain.
  • FIGS. 6A ,B A similar system for flat plates or various other largely planar surfaces is shown in FIGS. 6A ,B.
  • the cart ( 1 ) is separate from the rest of the assembly which includes an arm ( 2 ) upon which the welding apparatus may travel upon a sliding member ( 9 ).
  • the device is rendered modular in the sense that the cart is easily separable from the welding and control elements.
  • the cart and/or welding apparatus may be replaced easily for repair, use of different welding system, use of different motoring means, use of different feedback means, and the like.
  • a welding apparatus suitable for underwater welding can be used on the same cart used for open air welding by simply replacing the welding apparatus.
  • FIG. 7A shows a possible embodiment of the system in context of welding two pipe sections ( 703 & 704 ).
  • the welding cart 701 travels by means of a chain system 710 as will be understood by one skilled in the art.
  • the cart has motoring means 715 allowing it to travel around the circumference of the pipe to be welded.
  • a welding apparatus 702 is designed to removably mate with the cart 701 by means of quick release connection or similar reversible connection means.
  • the welding apparatus 702 contains means for positioning a welding device 730 by moving the welding device in a direction parallel to the pipe axis, perpendicular to the cart direction of movement.
  • FIG. 7B shows the system after connecting the welding apparatus to the cart.
  • FIGS. 7C ,D shows a top view of the welding system.
  • FIG. 7E shows a side view of the welding positioning means by which the welding apparatus may be moved in the direction parallel to the pipe axis; a set of motors 780 , 772 are supplied to move a rail 774 held by a linear bearing 776 .
  • the system can control two axes of the welding apparatus position radial and axial the cart controls the azimuthal position of the entire device while the welding apparatus controls the position of the welding head along the pipe axis and radially.
  • the two motions of the welding apparatus can compensate for both lateral and vertical shift of the seam.
  • FIG. 7F shows an isometric view of the system with welding apparatus connected to cart. Here one can see various transmission means of the motoring system.
  • FIG. 8 shows links of the chain that can be removed allowing the cart to be removed or attached to a pipe.
  • a spring is used ( 801 ) to retain the two chain parts in place and provide easy means for attachment and dismantling of the chain links. The usage of a quick chain release allows easy usage of system with various pipe diameters
  • FIG. 9 shows a cable tension protection mechanism.
  • a sensor 901 detects the motion of a cam follower 902 when it is away by a given amount from the center position.
  • the cam follower is installed in housing 903 .
  • a spring 904 provides the resistive force to the cable tension thru arm 905 and bracket 906 .
  • the spring 904 can be adjusted.
  • the positioning means may comprises two joints as shown here, or may comprise further joints to allow for increased degrees of freedom for the welding tip. Thus more intricate welds than those required for simple pipe seam welding jobs may be contemplated using the current device.
  • FIG. 10 a shows two units 1005 and 1010 of the invention working on 2 segments of a pipe 1001 .
  • the welding units comprise a cart section having motoring means, and a processing section that mates with and rides on the cart section.
  • the processing section has welding means, or in other embodiments may be fitted with a pre-welding cleaning system, a post-welding cleaning system, a painting system, a QA system with ultrasound, video, or the like, or other related process capabilities relevant to the overall method of joining materials such as metallic or plastic pieces; as will be clear to one skilled in the art.
  • FIG. 10 b shows unit 1050 and 1060 working in parallel on the same pipe section.
  • each cart may employ multiple processing units so as to provide optimal performance in terms of speed, weld quality, safety or the like.
  • one processing unit may be used for QA while the other unit is used for processing.
  • the same cart can serve multiple processing units, thus reducing the set up time and change over time of the various processes. This is due to the fact that the cart will not have to be removed and replaced; it is already adapted and ready to travel over the work surface to reach the relevant working areas such as seams between pipes or plates. Thus to switch from precleaning to welding to postcleaning to painting requires only swapping out the process module several times upon the same cart module.
  • the feature to be followed in the pipe can be anything the welding platform can detect and follow, including but not limited to:
  • Marking of the work can be done in various locations and by a selection of marking means.
  • marking is made relative to the pipe end and can be done after the final cutting or as part of the cutting production process.
  • the marking may be done as a separate operation, e.g. using a marking tool such as an engraving system.
  • a marking tool such as an engraving system.
  • Flat and curved work may both be served by either of these means, for example using a marking tool while forming the pipe end.
  • an electronic marking device can be used, for example by marking the location with a magnetic field.
  • the tracking mechanism is positioned away from the welded area it is possible to provide good environmental protection for the seam area, allowing effective shielding gas dispensing, and preventing spattering and radiation.
  • the shielding element also provides a simple means to evacuate the process gas (e.g by using vacuum).
  • the marking system can be fitted with a mechanism to identify pipes with irregular cuts, e.g by means of identifying deviations that are too big to be used for welding, and can generate warnings.
  • the rotary platform is used to provide a QA report after weld completion that can be used to validate weld integrity.
  • process QA online is performed by measuring various parameter during the weld process.
  • a separate QA cycle can be performed using the welding platform or the cart with a dedicated QA processing head.
  • Various sensors can be used in addition to or instead of the in-process parameter, such as a vision system, Laser system, IR system other optical system, X-ray systems, ultrasound systems, and the like.
  • sensors for environmental conditions be employed to inform and control the welding (and/or other process) parameters.
  • temperature, wind speed, smoke concentration, vibration levels, CO2 concentration, oxygen levels, relative humidity, orientation, heading, and the like may be measured and used to change such process parameters as welding current/voltage, gas pressure, gas flux, welding speed, welding technique, and the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Quality & Reliability (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Arc Welding In General (AREA)
US14/360,274 2011-11-24 2012-11-07 System and method for modular portable welding and seam tracking Active US9776272B2 (en)

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US14/360,274 US9776272B2 (en) 2011-11-24 2012-11-07 System and method for modular portable welding and seam tracking

Applications Claiming Priority (3)

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US201161563569P 2011-11-24 2011-11-24
US14/360,274 US9776272B2 (en) 2011-11-24 2012-11-07 System and method for modular portable welding and seam tracking
PCT/IB2012/002258 WO2013076541A1 (en) 2011-11-24 2012-11-07 System and method for modular portable welding and seam tracking

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US9776272B2 true US9776272B2 (en) 2017-10-03

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EP (1) EP2782701B1 (he)
JP (1) JP6240080B2 (he)
KR (1) KR20140121816A (he)
CN (1) CN104379292A (he)
CA (1) CA2855904C (he)
IL (1) IL232338B (he)
WO (1) WO2013076541A1 (he)

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US10421104B1 (en) * 2017-01-04 2019-09-24 NewCon, LLC Automatic seam fitter attachment for welder
WO2020000108A1 (en) * 2018-06-28 2020-01-02 Titan Trailers Inc. Trackless welding carriage with guide wheel
US20200368843A1 (en) * 2018-06-12 2020-11-26 Huntington Ingalls Incorporated System and method for ultrasonic additive manufacturing
US11224935B2 (en) * 2018-06-12 2022-01-18 Huntington Ingalls Incorporated System and method for ultrasonic additive manufacturing
US20220088694A1 (en) * 2020-09-18 2022-03-24 Pipeline Supply and Service LLC Gasless, Mechanized, Field-Welding Of Tubular Structure
US20220258291A1 (en) * 2019-06-22 2022-08-18 Xiaobing Feng Crawling welding robot
US11504790B2 (en) * 2014-10-22 2022-11-22 Illinois Tool Works Inc. Virtual reality controlled mobile robot
US11633813B2 (en) * 2019-11-22 2023-04-25 GM Global Technology Operations LLC Real-time weld quality analysis systems and methods

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DE202014100241U1 (de) * 2014-01-21 2014-02-03 Illinois Tool Works Inc. Vorrichtung zum Messen und Sammeln von Sauerstoffkonzentrationsdaten bei Schweißprozessen
EP2963380B8 (de) * 2014-07-04 2020-02-26 Georg Fischer Rohrleitungssysteme AG Berührungsloses Überprüfen einer Stumpfschweissung
CN104227224A (zh) * 2014-07-31 2014-12-24 上海拓璞数控科技有限公司 一种摩擦搅拌焊机用测力台
WO2017124194A1 (en) * 2016-01-21 2017-07-27 Shawcor Ltd. Narrow band ultrasonic scanner for pipeline use
CN105598559B (zh) * 2016-03-16 2017-12-29 湘潭大学 基于超声波摆动扫描的角焊缝跟踪系统及方法
FR3064513B1 (fr) 2017-04-03 2019-06-21 Serimax Holdings Systeme automatique de soudage portatif
CN107717184A (zh) * 2017-10-13 2018-02-23 中广核研究院有限公司 一种水下焊接系统测试平台
EP3747044A4 (en) * 2018-01-30 2022-02-16 Kulicke and Soffa Industries, Inc. CLEANING SYSTEMS FOR FLS WELDING TOOLS, WIRE WELDING MACHINES INCLUDING SUCH SYSTEMS AND RELATED METHODS
NO344914B1 (en) * 2018-07-11 2020-06-29 Oceantech Innovation As Portable, controllable and autonomous subsea weld inspection tool
CN110153532A (zh) * 2019-06-06 2019-08-23 中建八局第一建设有限公司 一种便携式管道焊接机器人
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EP2782701A1 (en) 2014-10-01
EP2782701B1 (en) 2021-01-06

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